CN115571059B

CN115571059B - Automatic docking and replenishment method and control device

Info

Publication number: CN115571059B
Application number: CN202211331027.XA
Authority: CN
Inventors: 马新谋; 杨福合; 李郁峰; 赵永娟; 张鹏飞; 刘中柱; 郭荣; 田二明; 常列珍; 刘彦臣; 杨京睿; 李嘉鑫; 米玉东; 卫娇娇; 徐盛利; 周志东; 康超
Original assignee: North University of China
Current assignee: North University of China
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2025-04-15
Anticipated expiration: 2042-10-28
Also published as: CN115571059A

Abstract

The present application provides an automatic docking and replenishment method and control device, which is applied to the control system of the automatic replenishment device. When it is determined that the designated position has been reached, a start instruction is sent to the drive system, so that the drive system drives the connection device to move, so that the connection device drives the locking mechanism to move synchronously during the movement, and when the connection with the automatic docking connector is successfully docked, the locking mechanism just locks the box frame; when it is determined that the designated position has not been reached, an alarm signal is sent to the system control device, so that the control device controls the lifting mechanism to readjust, so that the automatic docking box reaches the designated position by its own gravity under the guidance of the guide positioning component and the guide support frame after being released by the lifting mechanism. It can be seen that the technical solution provided by the embodiment of the present application can automatically realize the docking of the automatic connector with the connection device by controlling the drive system and realize the automatic replenishment of the material to be replenished through the transportation of the box frame.

Description

Automatic docking and supplying method and control equipment

Technical Field

The application relates to the technical field of automation, in particular to an automatic butt joint replenishment method and control equipment.

Background

Along with the development of science and technology, the scenes of material replenishment in production and life practice are more and more common, for example, the intensity and strength of weapon equipment in modern wars are higher and higher, so that the weapon equipment needs to consume a large amount of materials such as ammunition and oil after one combat, and on the basis of the problems, the rapid formation of combat force is required to be completed as soon as possible, and in addition, the disinfection (sterilization) equipment working in a scene of biochemical pollution is also urgently required to rapidly supplement the materials after one disinfection task is executed, but because the outer surface of the disinfection equipment is exposed in a polluted environment, a large amount of harmful substances are attached to the surface of the disinfection equipment, the replenishment of the working materials is also required to be completed rapidly, and the disinfection equipment has continuous working capability. In summary, it is best to complete the process without human intervention, whether the weapon equipment is supplied with ammunition, oil and other materials on the battlefield or the sterilizing equipment is supplied with sterilizing agent and other materials.

However, the current weapon equipment needs to be controlled on site by a person to replace ammunition and oil, the replacement of ammunition or the replenishment of oil by the person outside the equipment cabin is extremely unsafe during the combat, the control operation is complex, and a great amount of training is required to be adequate. Accordingly, the supplemental biocide of the killing feature also requires that the person return to the base to supplement the biocide to the killing feature before the used killing can continue, thus making the combat and sustained killing capacity of the killing feature lower. In summary, it is urgently required to design a material supplement for weapon equipment or disinfection equipment which can be automatically completed under the severe scenes such as battlefield, biochemical pollution and the like without human intervention.

Disclosure of Invention

In view of the above, the present application provides an automatic docking and replenishment method and control apparatus for automatically replenishing a substance.

Specifically, the application is realized by the following technical scheme:

In a first aspect, an embodiment of the present application provides an automatic docking and replenishment method, which is applied to a control system of an automatic replenishment device, the automatic replenishment device including a mounting seat for being mounted on a designated pitch axis in a vehicle and performing a pitch motion along with the pitch axis, an automatic docking box, a guide support frame for guiding the automatic docking box to move and carrying the automatic docking box, a guide positioning assembly for guiding the automatic docking box to move toward a designated position in the guide support frame, and a driving docking device, wherein the automatic docking box includes an automatic docking connector and a box frame for carrying a substance to be replenished, the automatic docking connector is mounted in the box frame, the guide support frame and the guide positioning assembly are both mounted on the mounting seat, the driving docking device includes a driving system, a connection device, and a locking mechanism, the driving system, the connection device, and the locking mechanism are all mounted on the guide support frame, the connection device is also connected with the locking mechanism, and the control system is electrically connected with the driving system, the method including:

When the automatic butt joint box body is determined to reach a designated position, a starting instruction is sent to the driving system, so that the driving system drives the connecting equipment to move in a first direction according to the starting instruction, the connecting equipment synchronously drives the locking mechanism to move in the moving process, and the locking mechanism just locks the box body frame when the automatic butt joint connector is successfully in butt joint connection;

When the automatic butt joint box body does not reach the designated position, an alarm signal for indicating that the automatic butt joint box body does not reach the designated position is sent to externally connected system control equipment, so that the system control equipment controls a lifting mechanism for lifting the automatic butt joint box body to readjust according to the alarm signal, and the automatic butt joint box body reaches the designated position under the guidance of a guide positioning assembly and a guide supporting frame by self gravity after being loosened by the lifting mechanism.

The embodiment of the application provides automatic docking replenishment control equipment, which is applied to a control system of an automatic replenishment device, and comprises a mounting seat, an automatic docking box body, a guide supporting frame, a guide positioning assembly and a driving docking equipment, wherein the mounting seat is used for being mounted on a designated pitching axis in a vehicle and doing pitching motion along with the pitching axis, the guide supporting frame is used for guiding the automatic docking box body to move and bearing the automatic docking box body, the guide positioning assembly is used for guiding the automatic docking box body to move towards a designated position in the guide supporting frame, the driving docking equipment comprises a driving system, a connecting device and a locking mechanism, the driving system, the connecting device and the locking mechanism are all mounted on the guide supporting frame, the connecting device is also connected with the locking mechanism, the control system is electrically connected with the driving system, and the automatic docking replenishment control equipment comprises:

the specified position determining unit is used for triggering the docking unit when determining that the automatic docking box reaches the specified position, and triggering the adjusting unit when determining that the automatic docking box does not reach the specified position;

The docking unit is used for sending a starting instruction to the driving system, so that the driving system drives the connecting equipment to move in a first direction according to the starting instruction, the connecting equipment synchronously drives the locking mechanism to move in the moving process, and the locking mechanism just locks the box body frame when the docking connection with the automatic docking connector is successful;

and the adjusting unit is used for sending an alarm signal for indicating that the automatic butt joint box body does not reach the designated position to the externally connected system control equipment, so that the system control equipment controls the lifting mechanism for lifting the automatic butt joint box body to readjust according to the alarm signal, and the automatic butt joint box body reaches the designated position under the guidance of the guide positioning assembly and the guide support frame by self gravity after being loosened by the lifting mechanism.

It can be seen that the embodiment of the application provides a method for an automatic docking and replenishment device, which is applied to a control system of the automatic replenishment device, wherein the automatic docking and replenishment device comprises an automatic docking connector and a box frame for bearing substances to be replenished, the automatic docking connector is arranged in the box frame, a guide support frame and a guide positioning assembly are arranged on a mounting seat, a driving system for driving docking equipment is connected with the driving system, the connecting equipment and a locking mechanism are arranged on the guide support frame, the connecting equipment is also connected with the locking mechanism, when the automatic docking box is determined to reach a designated position, a starting instruction is sent to the driving system, the driving system drives the connecting equipment to move in a first direction after receiving the starting instruction, so that the connecting equipment synchronously drives the locking mechanism to move in the movement process, and when the automatic docking and connection with the automatic docking connector is successful, the locking mechanism exactly locks the box frame, when the automatic docking box is determined to not reach the designated position, an alarm signal for indicating that the automatic docking box is not at the designated position is sent to a system control equipment connected to the outside, so that the control equipment controls the automatic docking and is used for lifting and controlling the automatic docking and lifting and lowering the automatic docking equipment to be adjusted to reach the designated position after the guide support frame and the automatic docking and positioning assembly is released by the gravity of the system. Therefore, the method provided by the embodiment of the application does not need people to participate in automatic replenishment, but can automatically realize the butt joint of the connector and the connector by controlling the driving system and realize the automatic replenishment of the substances to be replenished through the transportation of the box body frame.

Drawings

FIG. 1 is a flow chart of an automatic docking replenishment method according to an embodiment of the present application;

FIG. 2 is a schematic view of a part of an automatic docking and supplying device in a non-docked state according to an embodiment of the present application;

FIG. 3 is a schematic view of a portion of an automatic docking and supplying device according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a rear side view of an automatic docking and supplying device according to an embodiment of the present application;

FIG. 5 is a schematic view of the bottom structure of an automatic docking connector in an automatic docking and feeding apparatus according to an embodiment of the present application;

FIG. 6 (a) is a schematic view of an automatic mating connector according to an embodiment of the present application;

FIG. 6 (b) is a schematic view of a partially automatic mating connector according to an embodiment of the present application;

FIG. 6 (c) is a schematic view of the structure of a horizontal float according to an exemplary embodiment of the present application;

FIG. 7 is a schematic view showing a part of the structure of a connection device in an automatic docking and replenishment apparatus according to an exemplary embodiment of the present application;

FIG. 8 is a flow chart of another automatic docking replenishment method according to an embodiment of the present application;

FIG. 9 is a schematic view of a portion of a locking mechanism provided by the present application;

Fig. 10 is a schematic structural view of an automatic docking replenishment control apparatus provided by the present application.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

Referring to fig. 1, fig. 1 is a schematic diagram of a part of an automatic docking and supplying device in an undocked state, fig. 2 to 5 are schematic diagrams of a part of an automatic docking and supplying device in an undocked state, fig. 3 is a schematic diagram of a part of an automatic docking and supplying device in an embodiment, fig. 4 is a schematic diagram of a rear side view of the automatic docking and supplying device in an embodiment, fig. 5 is a schematic diagram of a bottom structure of an automatic docking connector in the automatic docking and supplying device in an embodiment, and the automatic docking and supplying device comprises a mounting seat 1, an automatic docking box 2, a guiding supporting frame 3, a guiding and positioning assembly 4 and a driving docking device 5.

The automatic docking box 2 further comprises an automatic docking connector 21 and a box frame 22 for bearing substances to be replenished, wherein the automatic docking connector 21 is arranged in the box frame 22, the guide support frame 3 is arranged on the mounting seat 1 and used for guiding the automatic docking box 2 to move and bearing the automatic docking box 2, the guide positioning component 4 is used for guiding the automatic docking box 2 to move towards a designated position in the guide support frame 3 and is arranged on the mounting seat 1, the driving docking device 5 comprises a driving system, a connecting device 52 and a locking mechanism 53, the driving system is connected with the connecting device 52, the connecting device 52 is further connected with the locking mechanism 53 and used for starting the driving system to drive the connecting device 52 to move when the automatic docking box 2 is determined to reach the designated position, the locking mechanism 53 is driven to move in the moving process, and the locking mechanism 53 is exactly locked when the automatic docking connector 21 is successfully docked and connected with the connecting device 2, and the driving system, the connecting device 52 and the locking mechanism are electrically connected with the guide support frame, and the driving system are electrically connected with the driving system.

In this embodiment, the mounting base 1 is used for mounting the guide supporting frame 3 and the guide positioning assembly 4, and it is of course also possible to limit the movement of the automatic docking box 2 towards the direction in which the mounting base 1 is located. The mount 1 may be provided in a plate-like structure, and a plurality of weight reducing holes having different or the same shape may be provided through the plate surface of the mount 1 in order to reduce the weight of the mount 1.

The automatic docking connector 21 is installed in the case frame 22, and in one embodiment, the automatic docking connector 21 is installed at the bottom of the case frame 22, a docking portion of the automatic docking connector 21 for docking with the connector is in an exposed state, and in other embodiments, the docking portion may be provided in a protective end cover provided with a switch, which is in an open state when the connector is detected to be in a preset docking range, and in a closed state when the connector is detected to be out of the preset docking range, which is not limited in this embodiment.

The drive system of the present embodiment may be a motor, a hydraulic mechanism, or a pneumatic mechanism, and the present embodiment is not limited to this.

In one embodiment, as shown in fig. 3 to 4, the box frame 22 includes a carrying frame for carrying the substance to be replenished and a docking frame for carrying the automatic docking connector 21, the docking frame is connected to an end of the carrying frame, and the docking frame has a smaller volume than the carrying frame. Within the docking frame is mounted an automatic docking connector 21, which automatic docking connector 21, when in contact with the docking head, may be used to provide communication, power or control signals, etc.

In this embodiment, the mounting base 1 and the guide supporting frame 3 form a material supplementing area for carrying the automatic docking box 2, and in one embodiment, when the automatic docking box 2 is about to enter the material supplementing area, the guide positioning assembly 4 mounted on the mounting base 1 can guide the automatic docking box 2 to move towards a designated position in the guide supporting frame 3, so that the automatic docking box 2 can be accurately placed in the area under the guidance of the automatic docking box 2 by means of self gravity, and the designated position in this embodiment is a longitudinal position determined according to the structures of the automatic docking box 2 and the guide supporting frame 3, so that the automatic docking box 2 enters a space where the material supplementing area belongs.

As shown in FIG. 1, the method comprises the following steps 101-103:

Step 101, when it is determined that the automatic docking box reaches the designated position, step 102 is performed, and when it is determined that the automatic docking box does not reach the designated position, step 103 is performed.

In this embodiment, when it is determined that the automatic docking box has reached the specified position, this means that the automatic docking box has successfully reached the specified position indicating that the automatic docking box can be successfully docked with the connection apparatus, and correspondingly, when it is determined that the automatic docking box has not reached the specified position, this means that the automatic docking box has not been successfully docked with the connection apparatus at this time, and adjustment is required again.

Step 102, a starting instruction is sent to the driving system, so that the driving system drives the connecting device to move in a first direction according to the starting instruction, the connecting device synchronously drives the locking mechanism to move in the moving process, and the locking mechanism just locks the box frame when the automatic butt joint connector is successfully connected.

In this embodiment, the first direction is only named for convenience of distinguishing from the following direction, and is not used to limit a certain direction;

The activation command of this embodiment is an indication signal for controlling the activation of the driving system, and in other embodiments, the driving system may be electrically connected to an external system control device, so that the system control device controls the driving system to move the connection device 52.

In this embodiment, the connecting device 52 will drive the locking mechanism 53 to move during the movement, and when the butt joint of the connecting device 52 and the automatic butt joint connector 21 are successfully butt-jointed, the locking mechanism 53 just locks the box frame 22, so that the driving system drives both the connecting device 52 and the locking mechanism 53 to just lock the box frame 22 when the connecting device 52 and the automatic butt joint connector 21 are successfully connected.

As an embodiment, the locking mechanism may be provided with a locking sensor for sending out a locking signal indicating that the locking mechanism is locked, the locking sensor being electrically connected to the control system, and when the locking sensor detects that the locking mechanism is in a locked state with the guide support frame, the locking signal is sent to the control system, so that the control system sends a state signal that the automatic docking box is in a locked state to an external system control device when obtaining the locking signal.

And step 103, sending an alarm signal for indicating that the automatic butt joint box body does not reach the designated position to externally connected system control equipment, so that the system control equipment controls a lifting mechanism for lifting the automatic butt joint box body to readjust according to the alarm signal, and the automatic butt joint box body reaches the designated position under the guidance of a guide positioning assembly and a guide supporting frame by self gravity after being loosened by the lifting mechanism.

In this embodiment, when receiving the alarm signal, the system control device knows that the automatic docking box is not guided to the designated position, which means that the position of the automatic docking box when placed by the lifting mechanism is not qualified, based on this, the lowering posture of the automatic docking box when released needs to be readjusted, after the lowering posture of the automatic docking box is adjusted, the automatic docking box will reach the designated position under the guidance of the guide support frame and the guide positioning component, if the automatic docking box does not reach the designated position yet, step 103 is re-executed until the designated position is reached, and the steps described in step 102 are executed.

The flow described in fig. 1 is completed.

The automatic butt joint box body of the automatic replenishment device comprises an automatic butt joint connector and a box body frame for bearing substances to be replenished, the automatic butt joint connector is arranged in the box body frame, a guide support frame and a guide positioning assembly are arranged on a mounting seat, a driving system for driving the butt joint device is connected with a connecting device of the automatic butt joint connector, the driving system, the connecting device and a locking mechanism are arranged on the guide support frame, the connecting device is also connected with the locking mechanism, when the automatic butt joint box body reaches a designated position, a starting instruction is sent to the driving system, the driving system drives the connecting device to move in a first direction after receiving the starting instruction, so that the connecting device synchronously drives the locking mechanism to move in the moving process, and when the automatic butt joint connector is successfully connected with the automatic butt joint connector in a butt joint mode, the locking mechanism exactly locks the box body frame, when the automatic butt joint box body does not reach the designated position, an alarm signal for indicating that the automatic butt joint box body does not reach the designated position is sent to the system control device connected to the outside, so that the control device controls the lifting mechanism for lifting the automatic butt joint box body to readjust to adjust after the automatic butt joint box body reaches the designated position, and the automatic butt joint box body is released by the guide positioning assembly to the guide support frame. Therefore, the method provided by the embodiment of the application does not need people to participate in automatic replenishment, but can automatically realize the butt joint of the connector and the connector by controlling the driving system and realize the automatic replenishment of the substances to be replenished through the transportation of the box body frame.

After completing fig. 1, in some embodiments, a first position mark is disposed at a first designated position of the box frame, a second position mark is disposed at a second designated position of the box frame, the driving docking device further includes a first position sensor for detecting the first position mark and a second position sensor for detecting the second position mark, the mounting seat is provided with the first position sensor for detecting the first position mark, the guiding support frame is provided with the second position sensor, and the first position sensor and the second position sensor are electrically connected with the control system, so that the specific implementation manner for determining that the automatic docking box reaches the designated position in step 102 includes step a:

And step A, acquiring a first signal which is sent when the distance between the first position sensor and the first position mark is within a first setting range and used for indicating that the box frame is in place, and acquiring a second signal which is sent when the distance between the second position sensor and the second position mark is within a second setting range and used for indicating that the box frame is in place.

In this embodiment, the first designated position and the second designated position do not refer to any two fixed designated positions, but may refer to any two designated positions on the box frame 22, and the embodiments of the present invention will not be described later. The first location indicator and the second location indicator are not specific to any two fixed location indicators, but may refer to any two location indicators, and the embodiments of the present invention will not be described later. The first position sensor and the second position sensor do not refer to any two fixed position sensors, but may refer to any two position sensors on the driving docking device 5, and the embodiments of the present invention will not be described later. The first setting range and the second setting range do not refer to any two fixed setting ranges, but may refer to any two setting ranges, and the embodiment of the present invention will not be described later. The first signal and the second signal do not refer to any two fixed signals, but may refer to any two signals, and the embodiments of the present invention will not be repeated.

The first designated position is a position preset according to the structures of the mounting seat 1, the guide supporting frame 3 and the box body frame 22, a first position mark is marked at the first designated position, the first position mark is used for being sensed by a first position sensor arranged at the designated position of the mounting seat 1, the first position sensor senses the first position mark, the first designated position of the box body frame 22 reaches a first set range where the first position sensor is located, and correspondingly, the second designated position is a position preset according to the structures of the mounting seat 1, the guide supporting frame 3 and the box body frame 22, the second position mark arranged at the second designated position is used for being sensed by a second position sensor arranged at the guide supporting frame 3, and when the second position sensor senses the second position mark, the second designated position of the box body frame 22 reaches a second set range where the second position sensor is located. In this embodiment, the first position sensor sends a first signal to the external motor control system to indicate that the housing frame 22 is in place whenever it senses the first position flag, and correspondingly, the second position sensor sends a second signal to the external motor control system to indicate that the housing frame 22 is in place whenever it senses the second position flag.

Based on the above step a, the specific implementation manner of determining that the automatic docking box does not reach the specified position in the implementation step 102 includes step B:

And B, acquiring a first signal which is transmitted by the first position sensor when the distance from the first position mark is within a first setting range and used for indicating that the box frame is in place, and determining that the automatic butt joint box body does not reach the designated position if a second signal which is transmitted by the second position sensor when the distance from the second position mark is within a second setting range and used for indicating that the box frame is in place is not acquired within the setting time.

In this embodiment, if only the first signal is received but the second signal is not received, the automatic docking box is considered to have not reached the designated position.

In some embodiments, the specific implementation of determining in implementation step 102 that the automated docking pod does not reach the specified location includes step C:

And C, acquiring a second signal which is transmitted by the second position sensor when the distance from the second position mark is in a second set range and used for indicating that the box frame is in place, and if the first signal which is transmitted by the first position sensor when the distance from the first position mark is in a first set range and used for indicating that the box frame is in place is not acquired within set time, determining that the automatic butt joint box body does not reach the designated position.

In this embodiment, if only the second signal is received but the first signal is not received, the automatic docking box is considered to have not reached the designated position. In some embodiments, the specific implementation of determining in implementation step 102 that the automated docking pod does not reach the specified location includes step D:

And D, if the first position sensor does not send a first signal for indicating that the box frame is in place when the distance from the first position mark is in a first set range, and if the second position sensor does not send a second signal for indicating that the box frame is in place when the distance from the second position mark is in a second set range, determining that the automatic butt joint box does not reach the designated position.

In this embodiment, if neither the first signal nor the second signal is received, the automatic docking box is considered to have not reached the designated position. In one embodiment, the first signal is considered not received if it is not received within a first time interval, and the second signal is considered not received if it is not received within a second time interval. The first time interval and the second time interval of the present embodiment may be the same or different, and the present embodiment is not limited thereto.

In some embodiments, after performing step 102, the method further includes, upon receiving a disengagement signal indicating a need to disengage the automatic docking pod, activating the drive system to move the connecting device in a second direction opposite the first direction such that the connecting device moves the locking mechanism during the movement, and the automatic docking connector is just completed disengaged from the connecting device while the locking mechanism unlocks the pod frame. In the present embodiment, the first direction is opposite to the second direction, which is the direction facing the automatic docking connector, and the second direction is the direction facing away from the automatic docking connector, where the second direction is not specific to a certain fixed direction, but is used to refer to the direction opposite to the first direction when the connection device 52 moves. In some embodiments, when the drive system is a motor, the motor is started to drive the connecting device 52 to move in a first direction when the automatic docking box is determined to reach the designated position, so that the connecting device 52 drives the locking mechanism 53 to move during the movement, and the locking mechanism 53 just locks the box frame 22 when the docking connection with the automatic docking connector 21 is successful, and the motor is started to drive the connecting device 52 to move in a second direction opposite to the first direction when the automatic docking box 2 is determined to be required to be released, so that the connecting device 52 drives the locking mechanism 53 to move during the movement, and the automatic docking connector 21 just completes the disconnection from the connecting device 52 while the locking mechanism unlocks the box frame. In this embodiment, the first steering direction and the second steering direction are opposite, when the first steering direction is forward, the second steering direction is reverse, and when the first steering direction is reverse, the second steering direction is forward, and the first steering direction and the second steering direction do not refer to any two fixed steering directions, but may refer to any two steering directions in the driving system, and the embodiments of the present invention will not be repeated.

In some embodiments, as shown in fig. 2, the mounting seat 1 may include a mounting seat body 11, two supporting blocks 12 and a longitudinal guiding locating plate mounting seat 13, the guiding locating component 4 includes a longitudinal locating piece 41 and a transverse locating piece 42, the two supporting blocks 12 and the longitudinal guiding locating plate mounting seat 13 are mounted on the end face of the mounting seat body 11, the two supporting blocks 12 are respectively attached to two sides of the longitudinal guiding locating plate mounting seat 13, the two supporting blocks 12 and the longitudinal guiding locating plate mounting seat 13 are respectively located on the same plane with the face of the mounting seat body 11 opposite to the pitch axis 6, the longitudinal locating piece 41 is mounted on the outer end face of the longitudinal guiding locating plate mounting seat 13 and used for guiding the box frame 22 to move along the longitudinal direction of the guiding supporting frame 3, and the distance between the longitudinal locating piece 41 and the guiding supporting frame 3 is greater than that between the mounting seat body 11 and the guiding supporting frame 3, and as an embodiment, the two supporting blocks 12 may be fixed on the mounting seat body 11 by screws so as to ensure that the horizontal working face of the two supporting blocks 12 is higher than the horizontal working face of the longitudinal locating piece 41. The transverse positioning member 42 is installed at a designated position in the plate surface of the mounting seat body 11, and the working surface for contacting the box frame 22 is protruded relative to the plate surface of the mounting seat body 11, and the box frame 22 can be placed just from the transverse positioning member 42 to the guide supporting frame 3. As an example, the lateral positioning member 42 may be fixed to a specified position in the plate surface of the mount body 11 by using a screw, and the outer working surface of the lateral positioning member 42 is used as the inner reference surface of the mount. The space between the outer working surface of the transverse positioning member 42 and the working surface of the guide support frame 3 needs to be ensured to exactly bear the automatic butt joint box body 2.

In this embodiment, in order to increase the size of the space between the mounting base 1 and the guide supporting frame 3 and reduce the weight and volume of the mounting base 1, the mounting base body 11 may take a plate-like structure, and a plurality of weight-reducing holes for reducing the weight may be provided on the plate surface of the mounting base body 11, and mounting holes for mounting components are further provided on the plate surface of the mounting base body 11. The two support blocks 12 may have the same structure or different structures, which is not limited in this embodiment, the two support blocks 12 may have a plate structure, the longitudinal guiding and positioning plate mounting seat 13 may have a plate structure, and the two mounting blocks and the longitudinal guiding and positioning plate mounting seat 13 may have the same plate structure.

As an embodiment, as shown in fig. 2, two positioning holes are reserved in the table base body, the guiding positioning assembly 4 further includes a positioning pin 43 and a trimming positioning pin 44, and the positioning pin 43 and the trimming positioning pin 44 respectively pass through the two reserved positioning holes of the supporting block 12 and the mounting base body 11 and are fixedly connected in the mounting base body 11. In some embodiments, one implementation manner that the positioning pin 43 and the edging positioning pin 44 respectively penetrate through two positioning holes reserved by the supporting block 12 and the mounting seat body 11 and are fixedly connected to the mounting seat body 11 is that after the positioning pin 43 and the edging positioning pin 44 respectively penetrate through two positioning holes reserved by the supporting block 12 and the mounting seat body 11, the upper end surfaces of the two supporting blocks 12 can be respectively used as upper positioning rabbets of the positioning pin 43 and the edging positioning pin 44, and the positioning pin 43 and the edging positioning pin 44 are fixedly connected with the mounting seat body 11 of the docking system through screws, flat gaskets and elastic gaskets. As an example, the spacing between the locating pins 43 and the chamfered locating pins 44 should be consistent with the pitch of the holes defined in the automatic docking box 2. The purpose of the trimming positioning pin 44 in this embodiment is to ensure absolute accuracy of the transverse positioning of the automatic docking box 2, and to properly relax the machining accuracy requirement for the automatic docking box 2 in the longitudinal direction, which is beneficial to improving the manufacturability and adaptability of the whole machining and manufacturing of the automatic docking and supplying device.

The distance between the longitudinal positioning piece 41 and the guide supporting frame 3 in this embodiment is greater than the distance between the mounting seat body 11 and the guide supporting frame 3, so that the automatic butt joint box body 2 can be initially guided to enter a material supplementing area formed by the mounting seat 1 and the guide supporting frame 3, at this time, the distance between the longitudinal positioning piece 41 and the guide supporting frame 3 is greater than the width of the automatic butt joint box body 2, and when the automatic butt joint box body 2 is positioned in the material supplementing area, the width is perpendicular to the board surface of the mounting seat body 11. In some embodiments, the longitudinal positioning member 41 is a plate-like structure with a slope and a plane in transitional connection, and the portion of the longitudinal positioning member 41 provided with the plane is close to and mounted on the longitudinal guiding positioning plate mounting seat 13, so that the case frame 22 can slide down along the slope toward the substance supplementing area. In this embodiment, the longitudinal positioning member 41 includes a slope body with a slope surface and a plane body with a plane surface, where the slope surface is in excess connection with the plane surface in the slope body, so that the automatic docking box 2 enters along the slope body first when entering the material replenishing area, and can perform rough and buffering guiding on the automatic docking box 2, and when the automatic docking box 2 is released, the automatic docking box can slowly fall into the material replenishing area along the slope body by self gravity. In order to more precisely fall into the specified position in the substance supplying area, in this embodiment, the lateral positioning member 42 is installed at the specified position in the panel surface of the mount body 11, and the outer surface of the lateral positioning member 42 is higher than the panel surface of the mount body, that is, the working surface for contacting the box frame 22 is protruded with respect to the panel surface of the mount body 11, and the difference between the distance of the lateral positioning member 42 to the guide support frame 3 and the width of the box frame 22 is within a preset range, which is greater than or equal to 0, less than or equal to a set value, which may be an empirical value, which may be ensured by machining, so that the automatically docking box 2 is positioned exactly at the lateral positioning member 42 under the self-weight drop. In other embodiments, the lateral positioning member 42 may be a plate-like structure provided with a slope so that the case frame 22 may slide down the slope into the material replenishment region, wherein the minimum distance between the slope of the lateral positioning member 42 and the guide support frame 3 is the width of the case frame 22. The application of the transverse positioning member 42 provided by the present embodiment can more accurately position the automatic docking box 2 at a specified position.

In order to guide the automatic docking box 2 to be placed in the transverse positioning member 42 more precisely, as shown in fig. 2, the guide support frame 3 includes a support frame 31 and a transverse guide member 32, the support frame 31 is mounted on the mounting base body 11 and is used for bearing the automatic docking box 2, and the transverse guide member 32 is mounted on the end portion of the support frame 31 so as to guide the automatic docking box 2 to fall into a material supplementing area between the mounting base body 11 and the support frame 31. The transverse guide 32 of the present embodiment approaches the automatic docking box 2 relative to the supporting frame 31, so as to avoid that the automatic docking box 2 deviates from the material replenishing area in the transverse direction and falls into other areas, and serves to guide and limit the automatic docking box 2 to deviate from the material replenishing area in the transverse direction and guide the automatic docking box 2 to fall into the material replenishing area. As an example, the transverse guide 32 may be welded to the supporting frame 31, so as to ensure that the dimension between the positioning surfaces of the transverse guide 32 and the dimension between the abutment surfaces of the automatic docking box 2 adjacent to the transverse guide 32 are consistent, and when the automatic docking box 2 enters the working range of the transverse guide 32 through the guidance of the longitudinal positioning member 41 and the transverse guide positioning component, namely the positioning pin 43 and the edging positioning pin 44, the automatic docking box 2 can be precisely guided. When the transverse guide 32 acts, the automatic butt joint box body 2 also enters the working range of the positioning pin 43 and the edging positioning pin 44, and the technical requirements of accurate guiding and positioning are met. Accurate positioning is achieved, and the position consistency of the module can be ensured to be replaced for a plurality of times. In practical application, the guiding and positioning assembly 4 of the embodiment completes coarse guiding and positioning and fine guiding and positioning of the automatic butt joint box body 2 by using various guiding and positioning measures in relay, so that in practical application, the guiding and positioning precision is improved by 10mm from 50mm to 1mm again, and the precision after installation butt joint is locked is not more than 0.1mm.

In some embodiments, as shown in fig. 2-5, the lateral guide 32 comprises at least two plate structures, and each plate structure is mounted on an end of the support frame 31 from large to small along the direction prescribed by the support frame 31 at a distance from the mounting base body 11. In this embodiment, at least two plate-like structures are provided for the purpose of uniformly defining the lateral deviation of the automatic docking box 2 from the mount body 11 in the longitudinal direction, and for the purpose of avoiding rollover due to uneven stress of the supporting force of the lateral guide 32 acting on the automatic docking box 2. As an embodiment, the at least two plate-shaped structures can be welded on the outer side of the mounting seat body 11, and the space between the plate-shaped structures and the middle of the mounting seat body 11 is ensured to be consistent with the working width of the automatic butt joint box body 2 and used for roughly guiding the transverse position of the automatic butt joint box body 2, and in practical application, the automatic butt joint box body 2 firstly roughly enters the area where the plate-shaped structures with large distance with the mounting seat body 11 are located in the process of freely falling into the material supplementing area so as to accurately fall into the material supplementing area when the plate-shaped structures are guided.

In some embodiments, the automatic docking connector 21 may be detachably mounted in the bottom end of the case frame 22, and may be an integral part of a mechanical electrical docking device on a vehicle or other equipment, and as an embodiment, the automatic docking connector 21 may be detachably mounted in the middle of the bottom end of the case frame 22, but is not limited to being placed in the middle. As one example, as shown in fig. 6 (a) to 6 (b), the automatic docking connector 21 includes a socket mount 211, a docking socket system 212, a socket mount plate 213, an electrical connector socket 214, and a horizontal float 215. The docking socket system 212 is disposed in the case frame 22, mounted on the bottom of the case frame 22, and mounted on the docking system mounting base through the socket mounting plate 213. The horizontal floaters 215 are uniformly arranged at the set installation positions of the docking socket system 212 in a circumferential direction in a paired arrangement mode and are abutted against the socket installation seat 211, so that the docking socket system 212 can horizontally float relative to the socket installation seat 211 under the fine adjustment of the horizontal floaters 215, as one embodiment, the horizontal floaters 215 can be finely adjusted to be within a range of-4 mm to +4 mm, as another embodiment, 4 horizontal floaters 215 can be adopted, each horizontal floaters 215 is uniformly arranged at the set installation positions of the docking socket system 212, positioning guide holes for positioning connectors are arranged in the electric connector socket 214, if the positions of the electric connector socket 214 and the connectors are smaller than the set insertion range, the insertion range can be set as an error of the radius of the positioning guide holes, and the electric connector socket 214 and the socket installation plate 213 can be forced to horizontally float in the allowed floating range of the socket installation seat 211 through the upward movement of the connectors, and the allowed floating range is a floating range preset according to practical working conditions. In other embodiments, as shown in FIG. 6 (c), the horizontal float 215 includes a horizontal float head 2151, a float body 2152, The socket mounting block 211 comprises a connector mounting frame 2112 for mounting an automatic docking connector and a connector mounting plate floating frame 2111, the connector body 2152 is a compressible device provided with an elastomer, the fixing nut 2154 is arranged on the connector mounting plate floating frame 2111 and sleeved on the connector body 2152, one end of the connector body 2152 is connected with a horizontal floating head 2151, the other end of the connector body 2152 is connected with the rear floating head adjusting screw 2153, and in the case of adjusting the docking socket system 212, the horizontal floating head 2151 is used for abutting against the end of the socket mounting block 211 to form a round roller body so as to avoid damage to the socket mounting block 211. As an embodiment, the elastic body is a floating spring 21521, the floating body 2152 further includes a first cavity segment structure 21522 with an internal thread segment and a second cavity segment structure 21523 with an internal protrusion at an end, an external side of the second cavity segment structure 21523 is provided with an external thread for connection with a fixing nut 2154, and the first cavity segment structure 21522 is connected with the second cavity segment structure 21523. Wherein, first cavity section structure 21522 and the rear portion adjusting screw 2153 threaded connection of floater, floating spring 21521 sets up in second cavity section structure 21523, and one end is connected in first cavity section structure 21522 tip, and the other end is connected in level floating head 2151 tip, and level floating head 2151 joint is protruding in second cavity section structure 21523.

The driving system drives the connecting device 52 to push the connecting head to move upwards to complete electrical butt joint or move downwards to complete electrical disconnection. In some embodiments, as shown in FIG. 7, the connection device 52 includes a torque limiter 521, a drive screw 522, a drive motor system 523, a mounting bracket 524, a connector 525, and a nut mount 526;

The driving screw 522 is installed at the output end of the motor, and penetrates through the torque limiter 521 to be connected with the nut seat 526, the torque limiter 521 is connected with the driving motor system 523, the driving motor system 523 is connected with the motor, the end part of the driving screw 522 is provided with the connector 525, the torque limiter 521 and the driving motor system 523 are both installed on the installation frame 524, and the installation frame 524 is installed on the motor;

as shown in fig. 6 to 7, the locking mechanism 53 includes a first link mechanism 532, a second link mechanism 533, a first locking member 534, a second locking member 535, a first support 536, and a second support 537;

The first link mechanism 532 and the second link mechanism 533 are relatively connected to two ends of the nut seat 526, the first link mechanism is disposed on the first support 536 and can perform horizontal rectilinear motion on the first support 536, the second link mechanism is disposed on the second support 537 and can perform horizontal rectilinear motion on the second support 537, the first support 536 and the second support 537 are respectively mounted on the guide support frame 3, the first link mechanism 533 and the second link mechanism 533 cooperate to limit the rotation of the nut seat 526 and can only move along the length direction of the driving screw 522, the control system is electrically connected with the torque limiter, and after transmitting a start command to the driving system, as shown in fig. 8, the method further comprises steps 103 to 105:

Step 103, obtaining a torque value transmitted by the torque limiter and used for transmitting the torque value to drive the screw, if the torque value is smaller than the set torque value, executing step 104, and if the torque value is larger than or equal to the set torque value, executing step 105.

Step 104, the torque limiter is controlled to be in a driving state, so that the driving motor system drives the motor to drive the driving screw to rotate, the driving screw drives the nut seat to move along the length direction of the driving screw, and meanwhile, the nut seat drives the first connecting rod mechanism and the second connecting rod mechanism to move, so that when the connector is successfully docked with the automatic docking connector, the first connecting rod mechanism and the second connecting rod mechanism also respectively drive the corresponding first locking piece and second locking piece to be just locked with the box frame in a matching way.

The input end of the torque limiter 521 of the present embodiment may be connected to the output shaft of the driving motor system 523 for driving a motor by a flat key, and the output end of the torque limiter 521 may be connected to the driving screw 522 by a flat key, for transmitting torque, where it is determined that the torque to be transmitted by the torque limiter 521 for the driving screw 522 is smaller than the set torque value, the driving motor system 523 drives the driving screw 522 to rotate, the driving screw 522 drives the nut seat 526 to move along the length direction of the driving screw 522, and simultaneously drives the first link mechanism 532 and the second link mechanism 533 to move through the nut seat 526, so that when the connector 525 is successfully docked with the automatic docking connector 21, the first link mechanism 532 and the second link mechanism 533 also respectively drive the corresponding first locking member 534 and the second locking member 535 to be just locked with the box frame 22 in a matched manner.

Step 105, controlling the torque limiter to be in a slipping state so that the driving motor system does not drive the driving screw to rotate.

In this step, when it is determined that the torque limiter 521 is greater than or equal to the set torque value for the driving screw 522, the torque limiter 521 starts to slip, and the driving motor system 523 does not drive the driving screw 522 to rotate at this time.

It can be seen that in the technical solution provided in the embodiment of the present application, the torque value transmitted by the torque limiter 521 is obtained in real time, so as to determine whether to continue to provide power for the driving screw.

The nut seat 526 of the present embodiment is cooperatively sleeved on the driving screw 522, and the direction of the nut seat 526 is fixed by the first link mechanism 532, the second link mechanism 533, the first support 536 and the second support 537, so as to be parallel to the mounting frame 524, in one embodiment, the connecting device 52 further includes two pull-out guide posts 528 and a limit sensor 529, and the two pull-out guide posts 528 and the limit sensor 529 are both mounted on the nut seat 526, wherein the limit sensor 529 can be mounted on the nut seat 526 through a sensor mounting seat, the limit sensor 529 can move up and down along with the nut seat 526, and after the limit sensor is electrically connected with the control system, the method further includes sending a stop command to the driving motor system when the limit sensor reaches the set upper limit or the set lower limit, so that the driving motor system stops rotating according to the stop command. The present embodiment transmits a stop instruction to a motor control system for controlling the driving motor system 523 when reaching the set upper limit or lower limit, to control the driving motor system 523 to stop the motor rotation by the motor control system. In other embodiments, the driving motor system 523 further includes a motor control system, and a stop command for indicating that the motor is controlled to stop rotating is transmitted to the motor control system of the driving motor system 523 when the set upper limit or lower limit is reached, so that the motor is controlled to stop rotating by the control system.

As one embodiment, the connection device 52 further includes a motor mount, a motor mount fixing plate, a stopper rod 530, and a stopper 531.

The motor mount pad is fixed on motor mount pad fixed plate, and motor mount pad fixed plate installs on guide support frame 3. In some embodiments, the drive motor system 523 includes a motor driver and a decelerator, and as one embodiment, the motor drive system further includes a motor system protective cover, the motor, driver, and motor system protective cover being mounted to the motor mount. The stop lever 530 is fixedly installed on the motor installation seat, and the stop block 531 with adjustable position is installed on the stop lever 530 to be used for as the position mark that the limit sensor 529 that controls the motor operation detected, the accuracy of location can be guaranteed through the stopper 531 on the stop lever 530 spiral regulation from top to bottom in this embodiment. In this embodiment, the docking of the connector 525 and the automatic docking connector 21 is performed by the limit sensor 529 sending an operation signal and a stop signal to the driving motor system 523, so as to perform an ascending motion (docking power) or a descending motion (undocking power), and the accurate position can be ensured by adjusting the limit block 531 on the limit lever 530 in an up-and-down spiral manner.

In some embodiments, mounting bracket 524 includes a connector 525 cartridge upper plate, a connector 525 cartridge lower plate, a preset number of copper guide sleeves a, a preset number of floating guide posts, and a preset number of connector 525 cartridge posts, and connecting apparatus 52 further includes a compensation spring 527 and a pull-out guide post 528;

The preset number of copper guide sleeves a are mounted on the lower plate of the connector 525 box, each floating guide post is correspondingly mounted in the copper guide sleeve a, the preset number can be4, and the lower plate of the connector 525 box can only move up and down along the length direction of the driving screw 522 under the limitation of each floating guide post. Wherein, the start and stop of the up-and-down motion is controlled by the limit sensor 529, when the set upper limit is reached, the limit sensor 529 triggers an upper limit signal for indicating that the lower plate of the connector 525 box reaches the upper limit, the upper limit signal CAN be sent to the motor control system through the CAN bus, the motor controller system controls the driving motor system 523 to stop driving the motor, and the motor stops running at the moment. When it is determined that the connection head 525 is pulled out of the automatic docking connector 21, the motor controller system controls the driving motor system 523 to drive the motor to rotate, and the connection head 525 moves downward along with the rotation of the nut seat 526 by the driving motor system 523.

The compensation spring 527 is sleeved on the driving screw 522, one end of the compensation spring 527 is connected with the lower plate of the connector 525 box, the other end of the compensation spring 527 is connected with the nut seat 526, when the driving motor system 523 drives the motor to rotate, the nut seat 526 ascends along the driving screw 522 to compress the compensation spring 527, when the spring force of the compensation spring 527 is larger than the friction force between the floating guide pillar and the copper guide sleeve A, the lower plate of the connector 525 box starts to ascend, when the connector 525 arranged on the lower plate of the connector 525 box is plugged in place but the limit sensor 529 does not arrive, the driving motor system 523 drives the motor to continue to rotate, and at the moment, the lower plate of the connector 525 box continues to compress the compensation spring 527 to prevent the automatic butt joint connector 21 from being damaged. The compensation spring 527 starts to stretch, and does not formally enter the pulling-out process until the upper end of the pulling-out guide post 528 starts to act, when the limit sensor 529 reaches the lower limit position, the limit sensor 529 triggers a signal for indicating that the lower plate of the head box reaches the lower limit, the limit sensor 529 CAN send the lower limit signal to the motor control system through the CAN bus, and the motor control system controls the driving motor system 523 to stop the rotation of the motor according to the lower limit signal.

The upper plates of the connecting heads 525 are connected with the lower plates of the connecting heads 525 through the upright posts of the connecting heads 525. In some embodiments, the connection device 52 further includes a connector 525 cartridge protective cover and a cable retention clip for the clamp cable, the connector 525 cartridge protective cover being removably mounted on the connector 525 cartridge upper plate for servicing and protecting the cable within the connector 525 cartridge. In practical application, the cable can be led out from the pitching shaft 6, is constrained and conveyed to the lower plate of the connector 525 box through the cable protection cover, and is connected with the automatic butt connector 21 on the lower plate of the connector 525 box, and the whole cable can be fixed and protected by the cable protection cover, so that the cable is rainproof, fireproof and dustproof. The cable passes the cable fixing clip after getting into connector 525 box hypoplastron, and rotatory cable fixing clip can fix the cable, prevents that the cable drunkenness caused from automatic butt joint connector 21 lower part from pulling out on the terminal when connector 525 box hypoplastron up-and-down motion to can improve system environment adaptability and reliability.

In the present embodiment, the first link mechanism 532 and the second link mechanism 533 are not particularly limited to any two fixed link mechanisms, but may refer to any two link mechanisms on the locking mechanism 53, and the embodiments of the present invention will not be described later. The first link mechanism 532 and the second link mechanism 533 may have the same structure or may have different structures, and the present embodiment is not limited to this.

Here, the first locking member 534 and the second locking member 535 do not refer to any two fixed locking members, but may refer to any two locking members on the locking mechanism 53, and the embodiments of the present invention will not be described later. The structures of the first locking member 534 and the second locking member 535 may be the same or different, which is not limited in this embodiment.

The first and second abutments 536, 537 are not specifically intended to be two of any two of the abutments, but may refer to any two of the abutments on the locking mechanism 53, and embodiments of the invention will not be described in detail. The first support 536 and the second support 537 may have the same structure or may have different structures, which is not limited to this embodiment.

The driving screw 522 in this embodiment is provided with a thread, the thread section penetrates the nut seat 526 and is connected with the nut seat 526 in a matching manner, and the nut seat 526 can move along the length direction of the thread section under the rotation of the driving screw 522 driven by the motor. The first link mechanism 532 and the second link mechanism 533 are mounted at two ends of the nut seat 526, so that the first link mechanism 532 and the second link mechanism 533 are simultaneously driven to move in the process of moving the nut seat 526 along the threaded section, and the first link mechanism and the second link mechanism 533 cooperate to limit the rotation of the nut seat 526, so that the nut seat 526 can only move along the length direction of the driving screw 522. Meanwhile, the first link mechanism 532 and the second link mechanism 533 are correspondingly disposed on the first support 536 and the second support 537, respectively, so that when the nut seat 526 drives the first link mechanism 532 and the second link mechanism 533 to move simultaneously, the first link mechanism 532 and the second link mechanism 533 also do horizontal linear movement on the first support 536 and the second support 537, respectively.

In this embodiment, the connection head 525 connected with the driving screw 522 is lifted to a designated position of the automatic docking connector 21 under the rotation of the motor, and is plugged with the automatic docking connector 21, and the first link mechanism 532 and the second link mechanism 533 respectively drive the corresponding first locking member 534 and the second locking member 535 to be locked with the box frame 22 just as the connection head 525 is successfully plugged with the automatic docking connector 21. In some embodiments, the automatic docking connector 21 is provided with a connector position sensor for measuring the position of the connector 525, and when detecting that the connector 525 steps into the set range, the system control device or the control system of the automatic replenishment device sends a position signal for indicating that the connector 525 has stepped into the set range, and after receiving the position signal, the system control device or the control system controls the motor to stop rotating.

In some embodiments, as shown in FIG. 9, the first linkage 532 includes a first link 5321, a first push rod 5322, a second push rod 5323, a first adjustment nut 5324, a second adjustment nut 5325, a first left-right handed thick nut 5326, and a first stud 5327, the second linkage 533 includes a second link 5331, a third push rod 5332, a fourth push rod 5333, a third adjustment nut 5334, a fourth adjustment nut 5335, a second left-right handed thick nut 5336, and a second stud 5337;

One end of the first connecting rod 5321 is connected with one end of the nut seat 526 through a first stud 5327, the other end of the first connecting rod 5321 is connected with one end of the first push rod 5322, the first push rod 5322 can horizontally and linearly move on the first support 536 under the pushing of the first connecting rod 5321, the other end of the first push rod 5322 is connected with the first adjusting nut 5324 through one end of the first left-right thick nut 5326, and one end of the second push rod 5323 is connected with the second adjusting nut 5325 through the other end of the first left-right thick nut 5326 so as to correspondingly adjust the working lengths of the first push rod 5322 and the second push rod 5323 through the first adjusting nut 5324 and the second adjusting nut 5325 respectively;

One end of the second connecting rod 5331 is connected with one end of the nut seat 526 through a second stud 5337, the other end of the second connecting rod 5331 is connected with one end of a third push rod 5332, the third push rod 5332 can horizontally and linearly move on a second support 537 under the pushing of the second connecting rod 5331, the other end of the third push rod 5332 is connected with a third adjusting nut through one end of a second left-right thick nut 5336, one end of a fourth push rod 5333 is connected with a fourth adjusting nut through the other end of the second left-right thick nut 5336 so as to correspondingly adjust the working lengths of the third push rod 5332 and the fourth push rod 5333 through the third adjusting nut and the fourth adjusting nut respectively, the other end of the fourth push rod 5333 is fixedly connected with a second locking member 535, and the nut seat 526 can only move along the length direction of the driving screw 522 under the rotation of the driving screw 522;

While the driving screw 522 drives the nut seat 526 to move along the length direction of the driving screw 522, the nut seat 526 drives the first link 5321 and the second link 5331, when the connector 525 is successfully docked with the automatic docking connector 21, the first link 5321 drives the first push rod 5322 and the second push rod 5323 to push the first locking member 534 to be locked with the box frame 22, and simultaneously, the second link 5331 drives the third push rod 5332 and the fourth push rod 5333 to push the second locking member 535 to be locked with the box frame 22.

In the present embodiment, the first link 5321 is only a name for convenience of distinction from the links below, and is not intended to limit a certain link. The first push rod 5322 and the second push rod 5323 do not refer to any two fixed push rods, but may refer to any two push rods on the first link mechanism 532, and the embodiments of the present invention will not be described later. The first and second adjustment nuts 5324, 5325 are not specifically limited to any two fixed adjustment nuts, but may refer to any two adjustment nuts on the first link mechanism 532, and embodiments of the present invention will not be described further.

The first left-right turn thick nut 5326 is merely a designation for convenience of distinction from the left-right turn thick nuts hereafter, and is not intended to limit a certain left-right turn thick nut. Accordingly, first stud 5327 is also merely a designation for convenience of distinction from the following studs, and is not intended to limit a particular stud.

Here, the second link 5331 is a name given for convenience of description, and is not intended to limit a certain link. Accordingly, the third push rod 5332 or the fourth push rod 5333 is also named for convenience of description and is not used for limiting a certain push rod, the third adjusting nut 5334 or the fourth adjusting nut 5335 is also named for convenience of description and is not used for limiting a certain adjusting nut, the second left-right thick nut 5336 is also named for convenience of description and is not used for limiting a certain left-right thick nut, and the second stud 5337 is also named for convenience of description and is not used for limiting a certain stud.

In this embodiment, one end of the first connecting rod 5321 is connected to one end of the nut seat 526 through the first stud 5327, it can be seen that the first stud 5327 is provided with a single screw head or a double screw head, if the first stud is provided with a single screw head, one end portion of the first stud 5327 provided with a single screw head is in threaded connection with the nut seat 526, and the other end portion is connected to one end of the first connecting rod 5321, which may be welded or bonded, but the embodiment is not limited thereto, and accordingly, one end portion of the first stud 5327 provided with a single screw head is in threaded connection with one end of the first connecting rod 5321, and the other end portion is connected to one end of the nut seat 526, which may be welded or bonded. If the first bolt has two threaded heads, one threaded end of the first stud 5327 is screwed with the nut seat 526, and the other threaded head is screwed with one end of the first link 5321.

The other end of the first link 5321 is connected with one end of a first push rod 5322, the first push rod 5322 can horizontally and linearly move on the first support 536 under the pushing of the first link 5321, the other end of the first push rod 5322 is connected with a first adjusting nut 5324 through one end of a first left-right thick nut 5326, one end of a second push rod 5323 is connected with a second adjusting nut 5325 through the other end of the first left-right thick nut 5326 so as to correspondingly adjust the working lengths of the first push rod 5322 and the second push rod 5323 through the first adjusting nut 5324 and the second adjusting nut 5325 respectively, and the other end of the second push rod 5323 is connected with a first locking piece 534

The movement principle of the first link mechanism 532 and the second link mechanism 533 is the same, only the first link mechanism 532 will be described in detail, and the second link mechanism 533 will not be described in detail.

In some embodiments, the first link mechanism 532 further comprises a first screw and a first belleville spring, the first link mechanism 532 further comprises a second screw and a second belleville spring, the first locking member 534 comprises a first locking block and a first locking rod provided with a step table, the second locking member 535 comprises a second locking block and a second locking rod provided with a step table, the first belleville spring is sleeved on the first locking rod, one end of the first belleville spring is propped against the table top of the step table of the first locking rod, the other end of the first belleville spring is propped against the second push rod 5323, the second push rod 5323 is connected with the first locking block in a matched manner through the first screw and the first belleville spring, the second belleville spring is sleeved on the second locking rod, one end of the second belleville spring is propped against the table top of the step table of the second locking rod, the other end of the second belleville spring is propped against the third push rod 5332, and the third push rod 5332 is connected with the second locking block in a matched manner through the first screw and the second belleville spring.

In this embodiment, the first screw is named for convenience of distinction from the following screw, and is not used for limiting a certain screw, the first belleville spring is named for convenience of distinction from the following belleville spring, and is not used for limiting a certain belleville spring, the first locking member 534 is named for convenience of distinction from the following locking member, and is not used for limiting a certain locking member, the first locking member is named for convenience of distinction from the following locking member, and is not used for limiting a certain locking member, and the first locking member is named for convenience of distinction from the following locking member, and is not used for limiting a certain locking member.

The second screw is also named for convenience of description, and is not used for limiting a certain screw, and accordingly, the second belleville spring is also named for convenience of description, and is not used for limiting a certain belleville spring, and the second locking block is also named for convenience of description, and is not used for limiting a certain locking block, and the second locking rod is also named for convenience of description, and is not used for limiting a certain locking rod, and the embodiments of the present invention will not be repeated later.

The first belleville spring and the second belleville spring are provided in this embodiment in order to accommodate the difference in distance between the working surfaces of the locking members in different supply support frames 31 for the working length of the first push rod 5322 and the second push rod 5323.

In this embodiment, the first locking lever may compress the first belleville spring to deform during the movement process, and the first belleville spring may generate an elastic force to generate a pushing force to the second push rod 5323, where the second push rod 5323 pushes the first locking block to generate a pressure, and accordingly, the working principles of the second locking lever, the second belleville spring, the second push rod 5323 and the second locking block are the same, which is not described in detail in this embodiment.

The electrical docking system protection cover is mounted inside the two rear brackets, namely the first bracket 536 and the second bracket 537. For protecting the parts of the connection device 52 for the docking connector 525, ensuring that it can move up and down therein.

The cable protection cover is used for fixing and restraining the cable, isolating and protecting the cable and preventing the cable from contacting with the external environment.

Connector 525 box safety cover is used for protecting cable and plug rain-proof, dustproof and fire prevention in the connector box that is connected with connector 525. These protective covers are all detachably installed to facilitate debugging and maintenance.

In some embodiments, the automatic docking pod 2 further includes a locking wedge, a docking station flag, a first locating hole, a longitudinal guide slot, a spreader lifting interface, and a second locating hole. The first positioning hole, the longitudinal guide groove, the lifting appliance lifting interface and the second positioning hole are all positioned at the top of the box body frame 22, and the first positioning hole, the longitudinal guide groove, the lifting appliance lifting interface and the second positioning hole are symmetrically arranged on the box body frame 22, and are not separated from left to right and only separated from front to back during installation. The locking wedges, the automatic docking connector 21 and the docking station markers are located at the bottom of the housing frame 22. Wherein the automatic docking connector 21 may float left in the horizontal plane or the bottom plane of the case frame 22, the magnitude of the float being controlled and determined by the adjustment system of the docking connector mount for mounting the automatic docking connector 21.

Referring to fig. 10, fig. 10 is a schematic structural diagram of an automatic docking replenishment control apparatus 100 provided in the present embodiment, where the automatic docking replenishment control apparatus is applied to a control system of an automatic replenishment device, and the automatic replenishment device includes a mounting seat for being mounted on a designated pitch axis in a vehicle and performing a pitching motion along the pitch axis, an automatic docking box, a guide support frame for guiding the automatic docking box to move and carrying the automatic docking box, a guide positioning assembly for guiding the automatic docking box to move to a designated position in the guide support frame, and a driving docking apparatus, where the automatic docking box includes an automatic docking connector and a box frame for carrying a substance to be replenished, the automatic docking connector is mounted in the box frame, the guide support frame and the guide positioning assembly are both mounted on the mounting seat, the driving docking apparatus includes a driving system, a connecting apparatus, and a locking mechanism, the driving system, the connecting apparatus, and the locking mechanism are all mounted on the guide support frame, and the connecting apparatus are also connected with the locking mechanism, and the control system is electrically connected with the driving system, and the automatic docking replenishment control apparatus includes:

A specified position determining unit 1001 for triggering the docking unit 1002 when it is determined that the automatic docking box reaches the specified position, and triggering the adjusting unit 1003 when it is determined that the automatic docking box does not reach the specified position;

the docking unit 1002 is configured to send a start instruction to the driving system, so that the driving system drives the connection device to move according to the start instruction, so that the connection device synchronously drives the locking mechanism to move in a moving process, and when the connection with the automatic docking connector is successful, the locking mechanism just locks the box frame;

and an adjusting unit 1003 for sending an alarm signal for indicating that the automatic docking box does not reach the designated position to the externally connected system control device, so that the system control device controls the lifting mechanism for lifting the automatic docking box to readjust according to the alarm signal, and the automatic docking box reaches the designated position under the guidance of the guiding positioning assembly and the guiding supporting frame by self gravity after being released by the lifting mechanism.

In some embodiments, a first position mark is arranged at a first designated position of the box frame, a second position mark is arranged at a second designated position of the box frame, the driving docking device further comprises a first position sensor for detecting the first position mark and a second position sensor for detecting the second position mark, the mounting seat is provided with the first position sensor for detecting the first position mark, the guide support frame is provided with the second position sensor for detecting the second position sensor, the first position sensor and the second position sensor are electrically connected with the control system, and the automatic docking box reaching the designated position is determined to be achieved, and the driving docking device comprises:

Acquiring a first signal which is sent when the distance between the first position sensor and the first position mark is within a first setting range and used for indicating that the box frame is in place, and acquiring a second signal which is sent when the distance between the second position sensor and the second position mark is within a second setting range and used for indicating that the box frame is in place;

determining that the automatic docking box does not reach the designated location includes:

Acquiring a first signal which is transmitted by a first position sensor when the distance from a first position mark is within a first set range and used for indicating that the box frame is in place, determining that the automatic butt-joint box body does not reach a designated position if a second signal which is transmitted by a second position sensor when the distance from a second position mark is within a second set range and used for indicating that the box frame is in place is not acquired within set time, or

Acquiring a second signal which is transmitted by a second position sensor when the distance from a second position mark is in a second set range and used for indicating that the box frame is in place, determining that the automatic butt-joint box body does not reach a designated position if a first signal which is transmitted by a first position sensor when the distance from a first position mark is in a first set range and used for indicating that the box frame is in place is not acquired within set time, or

If the first position sensor does not send a first signal for indicating that the box frame is in place when the distance from the first position mark is in a first set range, and the second position sensor does not send a second signal for indicating that the box frame is in place when the distance from the second position mark is in a second set range, determining that the automatic butt joint box does not reach the designated position.

In some embodiments, the connection device comprises a torque limiter, a driving screw, a driving motor system, a mounting frame, a connector and a nut seat, the driving system comprises a motor, the driving screw is mounted at the output end of the motor and penetrates through the torque limiter to be connected with the nut seat, the torque limiter is connected with the driving motor system, the driving motor system is connected with the motor, the connector, the torque limiter and the driving motor system are mounted on the mounting frame, the mounting frame is mounted on the motor, the locking mechanism comprises a first connecting rod mechanism, a second connecting rod mechanism, a first locking piece, a second locking piece, a first support and a second support, the first connecting rod mechanism and the second connecting rod mechanism are oppositely connected at two ends of the nut seat, the first connecting rod mechanism is arranged on the first support and can do horizontal linear motion on the first support, the second connecting rod mechanism is arranged on the second support and can do horizontal linear motion on the second support, the first support and the second support are respectively mounted on the guide support frame, the first connecting rod mechanism and the second connecting rod mechanism can only act together to limit the nut seat to rotate, and can move along the length direction of the driving screw, the control system and the control system is electrically connected with the limiter to send commands to start the driving system after the driving system further comprises the command and the method is started:

acquiring a torque value transmitted by a torque limiter and used for transmitting to a driving screw;

If the torque value is smaller than the set torque value, the torque limiter is controlled to be in a driving state, so that the driving motor of the driving motor system drives the driving screw to rotate, the driving screw drives the nut seat to move along the length direction of the driving screw, and meanwhile, the nut seat drives the first connecting rod mechanism and the second connecting rod mechanism to move, so that when the connector is successfully connected with the automatic butt connector, the first connecting rod mechanism and the second connecting rod mechanism also respectively drive the corresponding first locking piece and the corresponding second locking piece to be just matched and locked with the box body frame;

If the torque value is larger than or equal to the set torque value, the torque limiter is controlled to be in a slipping state, so that the driving motor system can not drive the driving screw to rotate.

In some embodiments, the first linkage comprises a first link, a first push rod, a second push rod, a first adjustment nut, a second adjustment nut, a first left-right turn thick nut, and a first stud;

One end of a first connecting rod is connected with one end of a nut seat through a first stud, the other end of the first connecting rod is connected with one end of a first push rod, the first push rod can do horizontal linear motion on a first support under the pushing of the first connecting rod, the other end of the first push rod is connected with a first adjusting nut through one end of a first left-right thick nut, and one end of a second push rod is connected with a second adjusting nut through the other end of the first left-right thick nut so as to correspondingly adjust the working lengths of the first push rod and the second push rod through the first adjusting nut and the second adjusting nut respectively;

One end of the second connecting rod is connected with one end of the nut seat through a second stud, the other end of the second connecting rod is connected with one end of a third push rod, the third push rod can do horizontal linear motion on the second support under the pushing of the second connecting rod, the other end of the third push rod is connected with a third adjusting nut through one end of a second left-right thick nut, one end of the fourth push rod is connected with a fourth adjusting nut through the other end of the second left-right thick nut so as to respectively correspondingly adjust the working lengths of the third push rod and the fourth push rod through the third adjusting nut and the fourth adjusting nut;

when the connector is successfully docked with the automatic docking connector, the first connecting rod drives the first push rod and the second push rod to push the first locking piece to be just matched and locked with the box body frame, and meanwhile, the second connecting rod drives the third push rod and the fourth push rod to push the second locking piece to be just matched and locked with the box body frame.

In some embodiments, the first linkage further comprises a first screw and a first belleville spring, the first linkage further comprises a second screw and a second belleville spring, the first locking member comprises a first locking block and a first locking lever provided with a step, and the second locking member comprises a second locking block and a second locking lever provided with a step;

The first butterfly spring is sleeved on the first locking rod, one end of the first butterfly spring is propped against the table surface of the step table of the first locking rod, the other end of the first butterfly spring is propped against the second push rod, and the second push rod is connected with the first locking block in a matched manner through the first screw and the first butterfly spring;

The second butterfly spring is sleeved on the second locking rod, one end of the second butterfly spring is propped against the table surface of the stepped platform of the second locking rod, the other end of the second butterfly spring is propped against the third push rod, and the third push rod is connected with the second locking block in a matched mode through the first screw and the second butterfly spring.

In some embodiments, the connection device further comprises two pull-out guide posts, a limit sensor and a sensor mount, wherein the pull-out guide posts and the sensor mount are both mounted on the nut mount, and the limit sensor is mounted on the sensor mount and is movable up and down with the nut mount via the sensor mount, the limit sensor is electrically connected with the control system, and after sending a start command to the drive system to cause the drive system to drive the connection device to move according to the start command, the method further comprises:

When the limit sensor reaches the set upper limit or lower limit, a stop instruction is sent to the driving motor system, so that the driving motor system controls the motor to stop rotating according to the stop instruction.

In some embodiments, the mount comprises a mount body, two support blocks, and a longitudinal guide positioning plate mount, the guide positioning assembly comprising a longitudinal positioning member and a transverse positioning member; the two supporting blocks and the longitudinal guide positioning plate mounting seat are both arranged on the end face of the mounting seat body, and the two supporting blocks are respectively stuck to the two sides of the longitudinal guide positioning plate mounting seat, the two supporting blocks and the installation seat of the longitudinal guide positioning plate are respectively positioned on the same plane with the plate surfaces of opposite pitching shafts in the installation seat body;

the longitudinal positioning piece is arranged on the outer end surface of the mounting seat of the longitudinal guide positioning plate and used for guiding the box body frame to move along the longitudinal direction of the guide support frame, and the distance between the longitudinal positioning piece and the guide support frame is larger than the distance between the mounting seat body and the guide support frame;

the transverse locating piece is arranged at a designated position in the plate surface of the mounting seat body, the working surface for contacting the box body frame protrudes relative to the plate surface of the mounting seat body, and the difference between the distance from the transverse locating piece to the guide supporting frame and the width of the box body frame is within a preset range.

In some embodiments, the guide support comprises a support and a lateral guide;

The transverse guide piece is arranged at the end part of the support frame to guide the automatic butt joint box body to fall into a substance supplementing area between the mounting seat body and the support frame.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the application.

Claims

1. An automatic docking and replenishing method, characterized in that the method is applied to a control system of an automatic replenishing device, the automatic replenishing device also includes: a mounting seat for mounting on a specified pitch axis in a vehicle and performing pitch motion along with the pitch axis, an automatic docking box, a guide support frame for guiding the automatic docking box to move and carry the automatic docking box, a guide positioning assembly for guiding the automatic docking box to move to a specified position in the guide support frame, and a driving docking device; wherein the automatic docking box includes an automatic docking connector and a box frame for carrying materials to be replenished, the automatic docking connector is installed in the box frame, the guide support frame and the guide positioning assembly are both installed on the mounting seat; the driving docking device includes a driving system, a connecting device and a locking mechanism, the driving system is connected to the connecting device, the driving system, the connecting device and the locking mechanism are all installed on the guide support frame, the connecting device is also connected to the locking mechanism, the control system is electrically connected to the driving system, the method includes:

When it is determined that the automatic docking box has reached the specified position, a start instruction is sent to the drive system, so that the drive system drives the connection device to move in a first direction according to the start instruction, so that the connection device synchronously drives the locking mechanism to move during the movement, and when the automatic docking connector is successfully docked, the locking mechanism just locks the box frame;

When it is determined that the automatic docking box has not reached the specified position, an alarm signal indicating that the automatic docking box has not reached the specified position is sent to an externally connected system control device, so that the system control device controls the lifting mechanism used to lift the automatic docking box to be readjusted according to the alarm signal, so that the automatic docking box reaches the specified position under the guidance of the guide positioning assembly and the guide support frame by its own gravity after being released by the lifting mechanism.

2. The automatic docking and replenishing method according to claim 1 is characterized in that a first position mark is provided at a first designated position of the box frame, a second position mark is provided at a second designated position of the box frame, the driving docking device further comprises a first position sensor for detecting the first position mark and a second position sensor for detecting the second position mark, the mounting seat is provided with a first position sensor for detecting the first position mark, and the guide support frame is provided with a sensor for detecting the second position mark; the first position sensor and the second position sensor are both electrically connected to the control system, and the determination that the automatic docking box reaches the designated position comprises:

A first signal is sent when the distance between the first position sensor and the first position mark is within a first set range to indicate that the box frame is in place; and a second signal is sent when the distance between the second position sensor and the second position mark is within a second set range to indicate that the box frame is in place;

The determining that the automatic docking box has not reached the specified position includes:

Acquire a first signal sent by the first position sensor when the distance from the first position mark is within a first set range, indicating that the box frame is in place; if a second signal sent by the second position sensor when the distance from the second position mark is within a second set range, indicating that the box frame is in place, is not acquired within a set time, it is determined that the automatic docking box has not reached the specified position; or

A second signal indicating that the box frame is in place is sent by the second position sensor when the distance from the second position mark is within a second set range; if a first signal indicating that the box frame is in place is sent by the first position sensor when the distance from the first position mark is within a first set range within a set time, it is determined that the automatic docking box has not reached the specified position; or

If the first position sensor does not send a first signal indicating that the box frame is in place when the distance from the first position mark is within a first set range, and if the second position sensor does not send a second signal indicating that the box frame is in place when the distance from the second position mark is within a second set range, it is determined that the automatic docking box has not reached the specified position.

3. The automatic docking and replenishing method according to claim 1 is characterized in that the connecting device includes a torque limiter, a driving screw, a driving motor system, a mounting bracket, a connecting head and a nut seat; the driving system includes a motor; the driving screw is installed at the output end of the motor and passes through the torque limiter to be connected to the nut seat, the torque limiter is connected to the driving motor system, the driving motor system is connected to the motor, the connecting head, the torque limiter and the driving motor system are all installed on the mounting bracket, and the mounting bracket is installed on the motor; the locking mechanism includes a first connecting rod mechanism, a second connecting rod mechanism, a first locking member, a second locking member, a first support and a second support; the first link mechanism and the second link mechanism are relatively connected at two ends of the nut seat, the first link mechanism is arranged on the first support, and can make horizontal linear motion on the first support, the second link mechanism is arranged on the second support, and can make horizontal linear motion on the second support, the first support and the second support are respectively installed on the guide support frame, the first link mechanism and the second link mechanism work together to limit the rotation of the nut seat, and can only move along the length direction of the driving screw; the control system is electrically connected to the torque limiter, and after sending a start command to the drive system, the method also includes:

Obtaining a torque value sent by the torque limiter for the drive screw to transmit;

If the torque value is less than the set torque value, the torque limiter is controlled to be in a driving state, so that the drive motor system drives the motor to drive the drive screw to rotate, so that the drive screw drives the nut seat to move along the length direction of the drive screw, and also drives the first connecting rod mechanism and the second connecting rod mechanism to move through the nut seat, so that when the connector is successfully docked with the automatic docking connector, the first connecting rod mechanism and the second connecting rod mechanism also respectively drive the corresponding first locking member and the second locking member to cooperate and lock with the box frame;

If the torque value is greater than or equal to the set torque value, the torque limiter is controlled to be in a slipping state so that the drive motor system will not drive the drive screw to rotate.

4. The automatic docking and replenishing method according to claim 1, characterized in that, when the docking connection with the automatic docking connector is successful, after the locking mechanism just locks the box frame, the method further comprises:

When a release signal indicating the need to release the automatic docking box is received, the drive system is started to drive the connecting device to move in a second direction opposite to the first direction, so that the connecting device drives the locking mechanism to move during the movement, and the automatic docking connector is disengaged from the connecting device at the same time as the locking mechanism unlocks the box frame.

5. The automatic docking and replenishing method according to claim 3, characterized in that the first link mechanism comprises a first link, a first push rod, a second push rod, a first adjusting nut, a second adjusting nut, a first left-right thick nut and a first stud; the second link mechanism comprises a second link, a third push rod, a fourth push rod, a third adjusting nut, a fourth adjusting nut, a second left-right thick nut and a second stud;

One end of the first connecting rod is connected to one end of the nut seat through the first stud, and the other end of the first connecting rod is connected to one end of the first push rod. The first push rod can make horizontal linear motion on the first support under the push of the first connecting rod. The other end of the first push rod is connected to the first adjusting nut through one end of the first left-right thick nut, and one end of the second push rod is connected to the second adjusting nut through the other end of the first left-right thick nut, so that the working lengths of the first push rod and the second push rod can be adjusted respectively by the first adjusting nut and the second adjusting nut; the other end of the second push rod is connected to the first locking member;

One end of the second connecting rod is connected to one end of the nut seat through the second stud, and the other end of the second connecting rod is connected to one end of the third push rod, and the third push rod can make horizontal linear motion on the second support under the push of the second connecting rod, and the other end of the third push rod is connected to the third adjusting nut through one end of the second left-right thick nut, and one end of the fourth push rod is connected to the fourth adjusting nut through the other end of the second left-right thick nut, so as to adjust the working lengths of the third push rod and the fourth push rod respectively through the third adjusting nut and the fourth adjusting nut; the other end of the fourth push rod is fixedly connected to the second locking piece; under the action of the first push rod and the third push rod, the nut seat can only move along the length direction of the driving screw under the rotation of the driving screw;

While the driving screw drives the nut seat to move along the length direction of the driving screw, the nut seat drives the first connecting rod and the second connecting rod. When the connecting head is successfully docked with the automatic docking connector, the first connecting rod drives the first push rod and the second push rod to push the first locking piece to cooperate with the box frame and lock it. At the same time, the second connecting rod drives the third push rod and the fourth push rod to push the second locking piece to cooperate with the box frame and lock it.

6. The automatic docking and replenishing method according to claim 5, characterized in that the first link mechanism further comprises a first screw and a first butterfly spring; the first link mechanism further comprises a second screw and a second butterfly spring; the first locking member comprises a first locking block and a first locking rod with a stepped platform, and the second locking member comprises a second locking block and a second locking rod with a stepped platform;

The first butterfly spring is sleeved on the first locking rod, one end of which abuts against the table surface of the step platform of the first locking rod, and the other end abuts against the second push rod, and the second push rod is connected with the first locking block through the first screw and the first butterfly spring;

The second butterfly spring is sleeved on the second locking rod, with one end against the table surface of the stepped platform of the second locking rod and the other end against the third push rod. The third push rod is connected to the second locking block through the first screw and the second butterfly spring.

7. The automatic docking and replenishing method according to claim 3 is characterized in that the connection device further comprises two pull-out guide pins, a limit sensor and a sensor mounting seat, wherein the pull-out guide pins and the sensor mounting seat are both mounted on the nut seat, and the limit sensor is mounted on the sensor mounting seat and can move up and down with the nut seat through the sensor mounting seat, the limit sensor is electrically connected to the control system, and after sending a start instruction to the drive system so that the drive system drives the connection device to move according to the start instruction, the method further comprises:

When receiving a signal that the limit sensor has reached the set upper limit or lower limit, a stop instruction is sent to the drive motor system, so that the drive motor system controls the motor to stop rotating according to the stop instruction.

8. The automatic docking and replenishing method according to claim 1 is characterized in that the mounting seat comprises a mounting seat body, two support blocks and a longitudinal guide positioning plate mounting seat, and the guide positioning assembly comprises a longitudinal positioning member and a transverse positioning member; the two support blocks and the longitudinal guide positioning plate mounting seat are both mounted on the end surface of the mounting seat body, and the two support blocks are respectively attached to the two sides of the longitudinal guide positioning plate mounting seat, and the two support blocks and the longitudinal guide positioning plate mounting seat are respectively located in the same plane with the plate surface of the mounting seat body opposite to the pitch axis;

The longitudinal positioning member is installed on the outer end surface of the longitudinal guide positioning plate mounting seat, and is used to guide the box frame to move along the longitudinal direction of the guide support frame, and the distance between the longitudinal positioning member and the guide support frame is greater than the distance between the mounting seat body and the guide support frame;

The transverse positioning member is installed at a specified position in the plate surface of the mounting seat body, and the working surface for contacting the box frame protrudes relative to the plate surface of the mounting seat body; the difference between the distance from the transverse positioning member to the guide support frame and the width of the box frame is within a preset range.

9. The automatic docking and replenishing method according to claim 8, characterized in that the guide support frame comprises a support frame and a transverse guide member;

The support frame is installed on the mounting seat body to carry the automatic docking box; the transverse guide is installed at the end of the support frame to guide the automatic docking box to fall into the material replenishment area between the mounting seat body and the support frame.

10. An automatic docking and replenishing control device, characterized in that the automatic docking and replenishing control device is applied to the control system of an automatic replenishing device, the automatic replenishing device comprising: a mounting seat for mounting on a specified pitch axis in a vehicle and performing pitch movement along with the pitch axis, an automatic docking box, a guide support frame for guiding the automatic docking box to move and carry the automatic docking box, a guide positioning assembly for guiding the automatic docking box to move to a specified position in the guide support frame, and a driving docking device; wherein the automatic docking box comprises an automatic docking connector and a box frame for carrying materials to be replenished, the automatic docking connector is mounted in the box frame, the guide support frame and the guide positioning assembly are both mounted on the mounting seat; the driving docking device comprises a driving system, a connecting device and a locking mechanism, the driving system is connected to the connecting device, the driving system, the connecting device and the locking mechanism are all mounted on the guide support frame, the connecting device is also connected to the locking mechanism, the control system is electrically connected to the driving system, the automatic docking and replenishing control device comprises:

A designated position determining unit, configured to trigger the docking unit when it is determined that the automatic docking box has reached the designated position, and to trigger the adjustment unit when it is determined that the automatic docking box has not reached the designated position;

The docking unit is used to send a start instruction to the drive system, so that the drive system drives the connection device to move in a first direction according to the start instruction, so that the connection device drives the locking mechanism to move synchronously during the movement, and when the connection device is successfully docked with the automatic docking connector, the locking mechanism just locks the box frame;

The adjustment unit is used to send an alarm signal to an externally connected system control device to indicate that the automatic docking box has not reached the specified position, so that the system control device controls the lifting mechanism used to lift the automatic docking box to readjust according to the alarm signal, so that the automatic docking box reaches the specified position under the guidance of the guide positioning assembly and the guide support frame by its own gravity after being released by the lifting mechanism.